CN101860305B - Method for controlling road sensing motor of line-controlled steering system - Google Patents
Method for controlling road sensing motor of line-controlled steering system Download PDFInfo
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- CN101860305B CN101860305B CN201010138785.0A CN201010138785A CN101860305B CN 101860305 B CN101860305 B CN 101860305B CN 201010138785 A CN201010138785 A CN 201010138785A CN 101860305 B CN101860305 B CN 101860305B
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Abstract
The invention relates to a method for controlling a road sensing motor of a line-controlled steering system. A road sensing motor moment controller receives an angle signal from an automobile steering wheel and a current signal from a steering motor to acquire a feedback moment Tfeedback fed back from the road sensing motor to the steering wheel; the road sensing motor moment controller receives a torque signal from a steering column to acquire an actual torque T of the steering column; and the feedback moment Tfeedback and the actual torque T are subjected to PI control to output a voltage signal to the road sensing motor. By the method, the feedback moment Tfeedback fed back from the road sensing motor to the steering wheel is calculated by a simple and effective moment algorithm and the feedback moment Tfeedback and the actual torque T are subjected to the PI control to realize the accurate road sensing simulation of the line-controlled steering system. Moreover, parameters in the algorithm can be repeatedly regulated through experiments and the parameters are rationally matched in the experiments to achieve a more ideal effect.
Description
Technical field
The present invention relates to motor turning field, especially a kind of method for controlling road sensing motor of wire-controlled steering system.
Background technology
Automobile steer-by-wire system has been cancelled the mechanical connection between steering wheel and deflecting roller, completely by electric energy, realize and turning to, the various restrictions of conventional steering system have been broken away from, the force transfering characteristic not only can free design vehicle turning to, and the angle transmission characteristic can design vehicle turning to, bringing immensity to the design of motor turning characteristic, is the significant innovation of automobile steering system.
In order to reduce driver's work, keep good driving sensation simultaneously, wire-controlled steering system should be able to carry out appropriate adjustment according to the conditions such as inherent characteristic, road environment and traffic of driving task, driver's needs and hobby, vehicle.In wire-controlled steering system, steering wheel feel provides the contact information on wheel and ground and the change information of road conditions for driver, these force and moment information feed back on steering wheel, driver relies on the road feel information of experiencing from steering wheel to learn the contact condition on wheel and road surface, and provide corresponding control strategy, therefore, steering response is an important property that maintains vehicle direct control feature and stability.
External road feel control strategy concentrates on the aligning torque of utilizing the estimation technique to obtain deflecting roller, then carries out steering wheel force feedback, and algorithm is more complicated.The thought that domestic is much based on modeling obtains appropriate road feel, need to be in experiment constantly adjustment algorithm and parameter.
Summary of the invention
The object of the present invention is to provide a kind of control algolithm simple, can carry out to the road feel motor of wire-controlled steering system the method for controlling road sensing motor of the good wire-controlled steering system of controlling.
For achieving the above object, the present invention has adopted following technical scheme: a kind of method for controlling road sensing motor of wire-controlled steering system, road feel motor torque control device receives the angular signal of car steering wheel and the current signal of steer motor, obtains road feel motor feedback to the feedback moment T of steering wheel
feedback; Road feel motor torque control device receives the dtc signal of steering column, obtains the actual torque T of steering column; By described feedback moment T
feedbackcarry out PI control with actual torque T, output voltage signal to road feel motor.
As shown from the above technical solution, the present invention adopts simple and effective moment algorithm, calculates road feel motor feedback to the feedback moment T of steering wheel
feedback, and by this feedback moment T
feedbackcarry out PI control with the actual torque T of steering column, realize the road feel of wire-controlled steering system is accurately simulated.In addition, the parameter in algorithm can constantly be adjusted by experiment, and Proper Match parameter in experiment, can reach more desirable effect.
Accompanying drawing explanation
Fig. 1 is the functional schematic of Road sense motor torque controller of the present invention.
Embodiment
A method for controlling road sensing motor for wire-controlled steering system, road feel motor torque control device receives the angular signal of car steering wheel and the current signal of steer motor, obtains the feedback moment T that road feel motor 1 feeds back to steering wheel
feedback; Road feel motor torque control device receives the dtc signal of steering column, obtains the actual torque T of steering column; By described feedback moment T
feedbackcarry out PI control with actual torque T, output voltage signal to road feel motor 1, as shown in Figure 1.
In conjunction with Fig. 1, the output current I of the current sensor Real-time Collection steer motor of described steer motor
steermotor, and by this output current I
steermotorwith steer motor torque constant K
tmultiply each other, obtain turning to the moment T of executive system
steer, the corner δ of steering wheel angle transducer Real-time Collection steering wheel
sw, and by this corner δ
swwith the damping coefficient K that turns to executive system
fmultiply each other, obtain turning to the damping torque T of executive system self
f, will turn to the moment T of executive system
steerwith the damping torque T that turns to executive system self
fbe added, then multiply each other with adjustment COEFFICIENT K, obtain the feedback moment T that road feel motor 1 feeds back to steering wheel
feedback, formula is as follows:
T
feedback=K*(T
steer+T
f)
T
steer=K
t*I
steermotor
T
f=-K
f*δ
sw
Steer motor torque constant K
tbe fixed value, occurrence is determined according to different motors.The moment acting on during motor turning on deflecting roller mainly comprises the moment through steering driver input, the damping torque T of the aligning torque on deflecting roller, the moment of friction on ground and steering self
fthe moment information that road feel is on deflecting roller in principle feeds back to the power sense on steering wheel, and other irrelevant frictional force should be the smaller the better therewith, but because the damping torque of steering self, the aligning torque on deflecting roller, the moment of friction on ground all necessarily exist and cannot ignore, wherein, the moment of friction on the aligning torque on deflecting roller, ground is through the output current I of steer motor
steermotorembody, the current information of steer motor has reflected various roads spectrum truly, and the present invention only need consider to turn to the damping torque T of executive system self in algorithm
f.
In conjunction with Fig. 1, the actual torque T of torque sensor Real-time Collection steering column, this actual torque T is the moment that driver and road feel motor 1 apply steering column jointly.Described feedback moment T
feedback, actual torque T is connected with the input of PID controller 2 by saturating control 3 respectively, the output of PID controller 2 passes through saturating control 3 and is connected with road feel motor 1.Described 2 couples of feedback moment T of PID controller
feedback, actual torque T carries out the saturated PI computing of anti-integration, and exports operation result to road feel motor 1, the moment values of road feel motor 1 output is reached or approaches feedback moment T
feedback.Saturating control 3, for demarcating the scope of output, output, limits the amount of input, output.
In conjunction with Fig. 1, while using hand steering wheel rotation to certain angle, allow steering wheel just freely return, when steering wheel return arrives centre position, the torque that torque sensor records is the damping torque T of steering self
f, take same corner and different corner many experiments, determine the damping coefficient K that turns to executive system
f.The scope of described adjustment COEFFICIENT K is 0.5～2, feedback moment T
feedbackscope be 0～10Nm, generally, the moment values of steering wheel is about 3～5Nm, 10Nm is maximum in theory moment values.
The basic controller of motor generally adopts rotational speed governor or current controller, and because moment and the electric current of direct current machine is linear relationship, general formula is T=k
t* I, k
tfor motor torque constant, so torque controller is equivalent to current controller.Because curent change is very fast, general PID controller 2 can not meet its requirement, and the effect that the present invention adopts increment type PI to control or the saturated PI of anti-integration controls is all good.If so-called integration saturated phenomenon refers to that system exists the deviation of a direction, the output of PID controller 2 is because integral action constantly strengthens, thereby cause the actuator position that reaches capacity, computer control amount has exceeded normal range of operation and has entered saturation region, once there is Reversal value in system, output variable exits from saturation region gradually, and it is longer that the saturation region of entering more exits saturation region required time.During this period of time, actuator still rests on extreme position and cannot oppositely make immediately corresponding change with deviation, and at this moment system, just as out of hand, causes controlled deterioration.As preventing that one of method that integration is saturated is exactly anti-integration saturation, the thinking of the method is when calculating u (k), and first whether the controlled quentity controlled variable u (k-1) in a upper moment of judgement exceeds limited field: if u (k-1) > is u
max, cumulative minus deviation only; U (k-1) < u
max, cumulative overgauge only.This algorithm can avoid controlled quentity controlled variable to rest on for a long time saturation region.
In sum, core of the present invention is to adopt simple and effective moment algorithm, calculates the feedback moment T that road feel motor 1 feeds back to steering wheel
feedback, and by this feedback moment T
feedbackcarry out PI control with the actual torque T of steering column, realize the road feel of wire-controlled steering system is accurately simulated.
Claims (6)
1. a method for controlling road sensing motor for wire-controlled steering system, is characterized in that: road feel motor torque control device receives the angular signal of car steering wheel and the current signal of steer motor, obtains road feel motor feedback to the feedback moment T of steering wheel
feedback; Road feel motor torque control device receives the dtc signal of steering column, obtains the actual torque T of steering column; By described feedback moment T
feedbackcarry out PI control with actual torque T, output voltage signal to road feel motor;
The output current I of the current sensor Real-time Collection steer motor of described steer motor
steermotor, and by this output current I
steermotorwith steer motor torque constant K
tmultiply each other, obtain turning to the moment T of executive system
steer, the corner δ of steering wheel angle transducer Real-time Collection steering wheel
sw, and by this corner δ
swwith the damping coefficient K that turns to executive system
fmultiply each other, obtain turning to the damping torque T of executive system self
f, will turn to the moment T of executive system
steerwith the damping torque T that turns to executive system self
fbe added, then multiply each other with adjustment COEFFICIENT K, obtain road feel motor feedback to the feedback moment T of steering wheel
feedback.
2. the method for controlling road sensing motor of wire-controlled steering system according to claim 1, is characterized in that: the actual torque T of torque sensor Real-time Collection steering column, this actual torque T is the moment that driver and road feel motor apply steering wheel jointly.
3. the method for controlling road sensing motor of wire-controlled steering system according to claim 1, is characterized in that: described feedback moment T
feedback, actual torque T is connected with the input of PID controller by saturating control respectively, the output of PID controller is connected with road feel motor by saturating control.
4. the method for controlling road sensing motor of wire-controlled steering system according to claim 1, it is characterized in that: while using hand steering wheel rotation to certain angle, allow steering wheel just freely return, when steering wheel return arrives centre position, the torque that torque sensor records is the damping torque T of steering self
f, take same corner and different corner many experiments, determine the damping coefficient K that turns to executive system
f.
5. the method for controlling road sensing motor of wire-controlled steering system according to claim 1, is characterized in that: the scope of described adjustment COEFFICIENT K is 0.5～2, feedback moment T
feedbackscope be 0～10Nm.
6. the method for controlling road sensing motor of wire-controlled steering system according to claim 3, is characterized in that: described PID controller is to feedback moment T
feedback, actual torque T carries out the saturated PI computing of anti-integration.
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| CN201010138785.0A CN101860305B (en) | 2010-03-31 | 2010-03-31 | Method for controlling road sensing motor of line-controlled steering system |
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| CN201010138785.0A CN101860305B (en) | 2010-03-31 | 2010-03-31 | Method for controlling road sensing motor of line-controlled steering system |
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| CN101860305B true CN101860305B (en) | 2014-01-22 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320325B (en) * | 2011-06-24 | 2013-03-13 | 吉林大学 | Redundant fault-tolerant control method applied to double-motor steering-by-wire system |
| CN102320326B (en) * | 2011-07-08 | 2012-09-26 | 吉林大学 | Control method used for automobile steer-by-wire system |
| CN103359151B (en) * | 2013-07-19 | 2015-09-30 | 青岛科技大学 | Steering-by-wire steering wheel for vehicle device |
| DE102016113454B4 (en) * | 2015-07-22 | 2021-04-01 | Steering Solutions Ip Holding Corporation | Steering system for providing damping in the field |
| DE102015015147A1 (en) | 2015-11-25 | 2017-06-01 | Thyssenkrupp Ag | Feedback actuator for steer-by-wire steering |
| DE102017215593A1 (en) * | 2017-09-05 | 2019-03-07 | Volkswagen Aktiengesellschaft | Steer-by-wire system and method of operating a steer-by-wire system |
| DE102018119268B4 (en) | 2018-08-08 | 2020-11-05 | Thyssenkrupp Ag | Rack force optimized steering feel of a steer-by-wire motor vehicle steering system |
| DE102018123291A1 (en) | 2018-09-21 | 2020-03-26 | Thyssenkrupp Ag | Adjustment of the steering feel depending on the steering speed |
| CN111348100A (en) * | 2018-12-21 | 2020-06-30 | 北京宝沃汽车有限公司 | Vehicle alignment control method and device and vehicle |
| CN111731110B (en) * | 2019-03-25 | 2021-11-26 | 长城汽车股份有限公司 | Motor system efficiency correction method and device of electric automobile |
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|---|---|---|---|---|
| CN101565055A (en) * | 2009-06-04 | 2009-10-28 | 奇瑞汽车股份有限公司 | Road feel motor controlling method based on automobile line control turning system |
| CN101596915A (en) * | 2009-07-10 | 2009-12-09 | 奇瑞汽车股份有限公司 | A kind of automobile steering system based on line traffic control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009190682A (en) * | 2008-02-18 | 2009-08-27 | Nsk Ltd | Electric power steering device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101565055A (en) * | 2009-06-04 | 2009-10-28 | 奇瑞汽车股份有限公司 | Road feel motor controlling method based on automobile line control turning system |
| CN101596915A (en) * | 2009-07-10 | 2009-12-09 | 奇瑞汽车股份有限公司 | A kind of automobile steering system based on line traffic control |
Non-Patent Citations (3)
| Title |
|---|
| JP特开2009-190682A 2009.08.27 |
| 线控转向系统转向盘力回馈控制模型的研究;罗石;《汽车工程》;20061031;第28卷(第10期);第914-917页 * |
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